Surgical navigation method, system and equipment based on C-Arm image

Abstract

The embodiment of the invention discloses a surgical navigation method and device based on a C-Arm image and electronic equipment. According to one specific embodiment, the method comprises the steps that the position of a surgical instrument is tracked in real time in the surgical process, and the surgical instrument comprises C-Arm equipment; breathing and movement of a target person are tracked in real time in the operation process; a mapping relation among a clinical image coordinate system, a C-Arm system coordinate system and an optical positioning coordinate system is established, a unified coordinate system is constructed, and the optical positioning coordinate system is a coordinate system of optical equipment for tracking a surgical instrument and a target person in real time; based on the unified coordinate system, performing registration fusion on the preoperative image, the intra-operative image and pre-planned navigation information, the intra-operative image including real-time positioning images of a surgical instrument and a target person; and rendering the intraoperative image and the navigation information matched with the intraoperative image on a display device so as to instruct an operation participating object to perform an operation based on the navigation information. Therefore, a novel surgical navigation mode based on the C-Arm image is provided.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a surgical navigation method, device and electronic equipment based on C-Arm imaging. Background Art

[0002] In interventional and surgical departments, the most common method is to use multiple CT scans and gradually insert the needle for puncture, or repeatedly take multi-angle 2D images during the operation and gradually insert the needle to establish the surgical channel. These traditional methods not only take a long time, but also have high radiation, which is harmful to patients and doctors. Common surgical navigation now, especially in spine and orthopedics, will implant calibration objects on the bones and perform 3D scanning to establish a mapping relationship between the tracking targets under navigation, and on this basis, perform surgical path planning and positioning. This method adds an incision compared to traditional surgery, and increases the surgical preparation process and time. Summary of the invention

[0003] This disclosure section is provided to introduce concepts in a brief form, which will be described in detail in the detailed description section below. This disclosure section is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0004] In a first aspect, an embodiment of the present disclosure provides a surgical navigation method based on C-Arm images, the method comprising: tracking the position of surgical instruments in real time during the operation, wherein the surgical instruments include C-Arm devices; tracking the breathing and movement of a target person in real time during the operation; establishing a mapping relationship among a clinical image coordinate system, a C-Arm system coordinate system, and an optical positioning coordinate system, and constructing a unified coordinate system, wherein the optical positioning coordinate system is a coordinate system of an optical device for real-time tracking of surgical instruments and the target person; based on the unified coordinate system, registering and fusing pre-operative images, intra-operative images, and pre-planned navigation information, wherein the intra-operative images include real-time positioning images of surgical instruments and the target person; rendering the intra-operative images and navigation information matching the intra-operative images on a display device to instruct the surgical participants to perform the operation based on the navigation information.

[0005] In a second aspect, an embodiment of the present disclosure provides a system for surgical navigation based on C-Arm images, comprising: a navigation device for real-time tracking of the position of surgical instruments during surgery, wherein the surgical instruments include C-Arm devices; real-time tracking of the respiration and movement of a target person during surgery; establishing a mapping relationship among a clinical image coordinate system, a C-Arm system coordinate system, and an optical positioning coordinate system, and constructing a unified coordinate system, wherein the optical positioning coordinate system is a coordinate system of an optical device for real-time tracking of surgical instruments and the target person; based on the unified coordinate system, registering and fusing pre-operative images, intra-operative images, and pre-planned navigation information, wherein the intra-operative images include real-time positioning images of surgical instruments and the target person; rendering the intra-operative images and the navigation information matching the intra-operative images on a display device to instruct the surgical participants to perform surgery based on the navigation information; an optical device for real-time tracking of the position of surgical instruments and the respiration and movement of the target person during surgery, and communicating with the navigation device; a C-Arm device equipped with markers that can be recognized by the optical device, and for acquiring pre-operative images and / or intra-operative images.

[0006] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the C-Arm image-based surgical navigation method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0008] Figure 1 is a flow chart of an embodiment of a surgical navigation method based on C-Arm imaging according to the present disclosure;

[0009] Figure 2 is a schematic diagram of a C-Arm imaging-based surgical navigation system in the related art;

[0010] Figure 3 It is a schematic diagram of the basic structure of an electronic device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0011] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0012] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0013] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0014] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0015] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0016] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0017] One or more embodiments of the present application propose an intelligent surgical navigation system based on C-Arm imaging, including an intelligent three-dimensional reconstruction module, an intelligent surgical planning module, a C-Arm device, a geometric calibration device for the C-Arm device, an intelligent navigation system carrying device, a navigation registration device, an intelligent registration and fusion module, and motion.

[0018] In one or more embodiments of the present application, the intelligent surgical navigation system has the following functions: 1) An intelligent three-dimensional reconstruction module, after completing the three-dimensional image shooting before the operation, including but not limited to CT, MRI, etc., uses advanced intelligent AI methods to quickly and accurately locate, segment and three-dimensionally reconstruct the lesions and corresponding important organs, and render them on the display device, which is not limited to the display screen; 2) An intelligent surgical planning module, which plans the surgical path under the reconstructed three-dimensional model above, and the path here is not limited to only one; the surgical planning module needs to be able to support intelligent AI path planning and manual planning and modification functions; 3) Data transmission and data management functions to facilitate communication between doctors and subsequent scientific research. In this way, the work efficiency of doctors can be improved, and surgical plans can be made in advance.

[0019] One or more embodiments of the present application, centered around a C-Arm intraoperative imaging device, have the following functions: 1) a geometric calibration module of the C-Arm device, used to calibrate the light source position of the C-Arm device, as well as the geometric position relationship between the light source and the detection plate; 2) motion tracking of the C-Arm device, used to construct a direct conversion relationship with other coordinate systems during imaging; and after the relationship is constructed, the following virtual imaging function is realized; 3) a C-Arm virtual imaging module, used to help doctors find shooting positions and angles more efficiently during surgery.

[0020] In one or more embodiments of the present application, during the operation, the functions of the equipment carrying the intelligent AI navigation system include: 1) intelligent navigation system carrying equipment, not limited to the currently common trolleys, workstations and AR\VR virtual enhanced glasses; 2) user management module, used to manage the login permissions and configurations of doctors and operators; 3) data import medium, used to import medical images from common medical imaging equipment or doctor workstations into the navigation device of the present invention; 4) data management module, used to store and manage clinical medical images and information such as organ segmentation, path planning and three-dimensional reconstruction during the operation; 5) intelligent surgery planning module, with the same function as above, can meet the doctor's needs for adjustment on the spot during the operation; 6) navigation registration device, used for registration and tracking of trackers required for optical navigation; 7) intelligent registration and fusion module, using AI intelligent algorithms to register and fuse the patient's pre-operative and intraoperative images and navigation information for real-time tracking and display of the operation; 8) motion tracking device, used for real-time respiratory monitoring during the operation; 9) real-time surgical navigation module, used to render the real-time positioning of surgical instruments, patients and other targets in the space and render them on the display device, and guide doctors or robotic arms to perform operations according to the planned path.

[0021] In one or more embodiments of the present application, after the operation is completed, the functions of the equipment carrying the intelligent AI navigation system include: 1) an end guidance module to guide the doctor to tidy up the workbench according to the instructions to facilitate subsequent operations; 2) a surgery evaluation module for imaging the surgical effect and quantitatively evaluating the surgical effect.

[0022] One or more embodiments of the present application can be applied to C-Arm image-guided surgery, and can provide more comprehensive real-time information during the surgery, assist surgical participants (such as doctors or robotic arms) in performing surgery, and improve the accuracy and effectiveness of treatment.

[0023] Please refer to Figure 1 , which shows the process of an embodiment of a surgical navigation method based on C-Arm images according to the present disclosure. Figure 1 The surgical navigation method based on C-Arm imaging includes the following steps:

[0024] Step 101 , tracking the position of surgical instruments in real time during surgery.

[0025] Here, the surgical instrument includes a C-Arm device.

[0026] Optionally, the surgical instrument may also include other equipment that needs to be tracked.

[0027] Step 102 , tracking the breathing and movement of the target person in real time during the operation.

[0028] Here, the target person may be the surgical subject, ie, the patient.

[0029] Optionally, the target person may be tracked using a cross-bar fence-like instrument that can be identified by an infrared light instrument.

[0030] As an example, the position of surgical instruments, the breathing and movement of the target person can be acquired from the optical device.

[0031] Step 103, establishing a mapping relationship among the clinical image coordinate system, the C-Arm system coordinate system and the optical positioning coordinate system, and constructing a unified coordinate system.

[0032] Here, the clinical image coordinate system may be a coordinate system of pre-operative images.

[0033] Here, the C-Arm system coordinate system may be a coordinate system of the C-Arm device.

[0034] Here, the optical positioning coordinate system is a coordinate system of an optical device that tracks surgical instruments and target persons in real time.

[0035] Step 104: Based on the unified coordinate system, the pre-operative image, the intra-operative image and the pre-planned navigation information are registered and fused.

[0036] Here, intraoperative images include real-time positioning images of surgical instruments and target persons.

[0037] Optionally, AI intelligent algorithms can be used to align and fuse the patient's pre-operative and intra-operative images and navigation information for real-time tracking and display of the surgery.

[0038] Step 105: Render the intraoperative image and navigation information matching the intraoperative image on a display device to instruct the surgical participant to perform the surgery based on the navigation information.

[0039] Here, the surgical participants may be humans (such as doctors) or surgical robots (such as robotic arms).

[0040] Optionally, the real-time positioning of surgical instruments, patients and other targets in the space can be rendered and rendered on a display device, and the doctor or robotic arm can be guided to perform the surgery according to the planned path.

[0041] In some embodiments, the client or terminal device may execute Figure 1 The process flow of the method is shown.

[0042] It should be noted that the C-Arm image-based surgical navigation method provided in this embodiment provides a more comprehensive and feasible surgical method, which is mainly aimed at the C-Arm equipment in current clinical operating rooms. Based on the operating room equipment, C-Arm calibration, preoperative and intraoperative C-Arm image registration are taken into account to track the respiratory movement of the surgical subject and pre-plan the surgical path; thereby, the navigation accuracy in real usage scenarios is improved, and the degree of surgical flow is improved.

[0043] In some embodiments, the method further includes: acquiring preoperative three-dimensional image data of the target person scanned before surgery; identifying and segmenting lesions and organs based on the preoperative three-dimensional image data, and generating a preoperative three-dimensional model, wherein the preoperative three-dimensional model can be modified in response to a model modification operation, and the three-dimensional model is used to implement three-dimensional rendering to generate preoperative images.

[0044] Here, the three-dimensional medical image data may include but is not limited to at least one of the following: CT (computed tomography) data, MRI (magnetic resonance imaging) scan data and ultrasound image data. These data can provide a detailed three-dimensional view of the internal structure of the human body.

[0045] In some embodiments, the method further includes: performing surgical path planning on the preoperative three-dimensional model to obtain at least one candidate path; in response to detecting a path modification operation, modifying the candidate path according to the path modification operation, and determining at least one target path for the surgery; and generating navigation information based on the target path.

[0046] In some embodiments, the method further includes one or more of the following: identifying and segmenting lesions and organs based on the preoperative three-dimensional imaging data to generate a preoperative three-dimensional model, including: using an AI intelligent algorithm to perform intelligent lesion and organ identification and segmentation on the preoperative three-dimensional imaging data scanned before surgery; performing surgical path planning on the preoperative three-dimensional model to obtain at least one candidate path, including: using an intelligent AI algorithm to generate multiple candidate paths; the method further includes: using an intelligent AI algorithm to predict the effect of the target path surgery.

[0047] As an example, the intelligent AI algorithm can be selected according to the actual scenario. For example, the intelligent AI algorithm can be one or more of the following: machine learning algorithm, deep learning algorithm, computer vision algorithm, decision tree algorithm.

[0048] As an example, advanced AI algorithms can be used to intelligently identify and segment lesions and organs from preoperative 3D data of patients, such as CT, MRI, and ultrasound images, and provide manual modification functions and generate 3D models to achieve 3D rendering in the system. Intelligent AI algorithms can be used to automatically give several recommended surgical paths, and doctors can interactively modify the surgical paths and predict the effects of the surgery.

[0049] Therefore, surgical planning can be simulated before the operation, which can greatly improve the efficiency during the operation. During the operation, the planned path can be updated synchronously, which can greatly improve the efficiency of the operation, avoid the doctor starting the surgical planning during the operation, and improve the fluency of the operation.

[0050] In some embodiments, the mapping relationship between the clinical image coordinate system, the C-Arm system coordinate system and the optical positioning coordinate system is established to construct a unified coordinate system, including: using an intelligent AI algorithm to align the clinical image coordinate system and the C-Arm system coordinate system; based on the markers installed on the C-Arm device, the optical positioning coordinate system and the C-Arm coordinate system are merged.

[0051] Here, an intelligent AI algorithm is used to align the clinical image coordinate system and the C-Arm system coordinate system, and the navigation device's marker points are used to fuse the optical positioning coordinate system and the C-Arm coordinate system; a unified coordinate system is constructed for real-time navigation of the subsequent surgical process and rendered on the system.

[0052] It should be noted that the registration of intraoperative images and preoperative images of C-Arm requires geometric calibration of the C-Arm device if the 3D C-Arm function is not used directly. However, if this important subsystem is ignored and the coordinates of the C-Arm light source are assumed to be the physical geometric center, the final accuracy error will be large.

[0053] This can improve the accuracy of navigation information display during surgery, and provide accurate matching for deformable targets before and during surgery. It can also improve the speed of non-rigid registration.

[0054] In some embodiments, the method further includes: during the operation, using a C-Arm device to shoot, generate and display a virtual X-Ray image; based on the virtual X-Ray image, adjusting the shooting position and angle of the virtual X-Ray image, and adjusting the placement position of the C-Arm device.

[0055] As an example, during an operation, the doctor needs to use a C-Arm to take pictures. The system can generate a virtual X-Ray image to help the doctor adjust the shooting position and angle and quickly complete the placement of the C-Arm equipment.

[0056] This can improve the ability of assisting doctors in adjusting the shooting position and angle and quickly complete the placement of the C-Arm device.

[0057] In some embodiments, the method further includes: after the operation is completed, displaying postoperative guidance prompt information, wherein the postoperative guidance prompt information is used to guide the surgical participants to organize the surgical related instruments. Thus, after the operation is completed, the doctor is guided to organize the surgical related instruments.

[0058] In some embodiments, the method further includes: obtaining postoperative 3D image data of the target person; registering and fusing the preoperative 3D image data to the unified coordinate system, performing fusion display, and generating a postoperative surgical effect evaluation. Thus, the postoperative medical image registration and fusion can be performed to the unified surgical coordinate system, and then fusion display can be performed to obtain a postoperative surgical effect evaluation.

[0059] Please refer to Figure 2 , which shows the process of an embodiment of a surgical navigation system based on C-Arm images according to the present disclosure. Figure 1 The C-Arm image-based surgical navigation system shown includes the following subsystems: an intelligent navigation system device (ie, a navigation device), a C-Arm device, and an optical device.

[0060] In this embodiment, an intelligent surgical navigation system based on C-Arm imaging includes: a navigation device for real-time tracking of the position of surgical instruments during surgery, wherein the surgical instruments include C-Arm devices; real-time tracking of the respiration and movement of a target person during surgery; establishing a mapping relationship among a clinical image coordinate system, a C-Arm system coordinate system, and an optical positioning coordinate system to construct a unified coordinate system, wherein the optical positioning coordinate system is a coordinate system of an optical device for real-time tracking of surgical instruments and target persons; based on the unified coordinate system, registering and fusing pre-operative images, intra-operative images, and pre-planned navigation information, wherein the intra-operative images include real-time positioning images of surgical instruments and target persons; rendering the intra-operative images and navigation information matching the intra-operative images on a display device to instruct the surgical participants to perform surgery based on the navigation information; an optical device for real-time tracking of the position of surgical instruments and the respiration and movement of a target person during surgery, and communicating with the navigation device; a C-Arm device equipped with a marker recognizable by the optical device, and for acquiring pre-operative images and / or intra-operative images.

[0061] In some embodiments, the navigation device is also used to: obtain preoperative three-dimensional image data of the target person scanned before surgery; identify and segment lesions and organs based on the preoperative three-dimensional image data, and generate a preoperative three-dimensional model, wherein the preoperative three-dimensional model can be modified in response to a model modification operation, and the three-dimensional model is used to implement three-dimensional rendering to generate preoperative images.

[0062] In some embodiments, the navigation device is also used to: perform surgical path planning on the preoperative three-dimensional model to obtain at least one candidate path; in response to detecting a path modification operation, modify the candidate path according to the path modification operation, and determine at least one target path for the surgery; and generate navigation information based on the target path.

[0063] In some embodiments, the navigation device is also used to: during surgery, use the C-Arm device to shoot, generate and display virtual X-Ray images; based on the virtual X-Ray images, adjust the shooting position and angle of the virtual X-Ray images, and adjust the placement of the C-Arm device.

[0064] In some embodiments, the navigation device is further used to: display postoperative guidance prompt information after the operation is completed, wherein the postoperative guidance prompt information is used to guide the surgical participants to organize the surgical related instruments.

[0065] In some embodiments, the navigation device is further used to: obtain postoperative three-dimensional image data of the target person; align and fuse the preoperative three-dimensional image data into the unified coordinate system for fusion display, and generate a postoperative surgical effect evaluation.

[0066] Here, the 3D reconstruction and planning subsystem for performing 3D reconstruction and surgical planning before surgery, which is installed on other system equipment before surgery, may belong to the intelligent navigation system equipment.

[0067] Here, the intraoperative imaging device, ie, the C-Arm device, may be equipped with C-Arm motion tracking markers and C-Arm geometric calibration markers.

[0068] Here, optical devices are used to track various targets, such as the C-Arm device's markers, as well as the subject's breathing and movement.

[0069] Here, the intelligent navigation system equipment used in surgery is the core subsystem.

[0070] Here, the three-dimensional reconstruction planning subsystem can be installed on a variety of devices, mainly to facilitate doctors' operations and complete planning before surgery.

[0071] In some embodiments, the 3D reconstruction planning subsystem may include an intelligent 3D reconstruction module and an intelligent surgery planning module. The intelligent 3D reconstruction module uses advanced AI intelligent algorithms to perform intelligent lesion and organ identification and segmentation on preoperative 3D data of patients, such as CT, MRI, and ultrasound images, and provides manual modification functions and generates 3D models to achieve 3D rendering in the system. The intelligent surgery planning module uses intelligent AI algorithms to automatically give several recommended surgical paths, and doctors can interactively modify the surgical paths and predict the effects of the surgery.

[0072] Here, the C-Arm device can perform C-Arm geometric calibration and C-Arm motion tracking.

[0073] The geometric calibration of C-Arm requires the use of a geometric calibration device to calibrate the light source position of the C-Arm device and the geometric position relationship between the light source and the detection plate for the purpose of aligning the fusion module. The motion tracking of C-Arm needs to take into account the sterile environment of the operating room. The motion device recommended here is an optical device trackable device, which is placed in a fixed position outside the C-Arm sterile bag; it is used to build a direct conversion relationship with other coordinate systems during imaging.

[0074] Here, optical equipment can construct a unified spatial coordinate system and use optical equipment to track each target object. It is necessary to design and process tracking devices for each target object and ensure that they are in a reasonable spatial position to ensure tracking accuracy.

[0075] Here, the core intelligent navigation system equipment in the operation can be the currently common trolley equipment equipped with a workstation, or it can be AR\VR glasses. In addition to the intelligent three-dimensional reconstruction module and intelligent surgical planning module described above, it can also include: user management module, data management module, navigation device registration, motion tracking device, respiratory tracking device, intelligent registration and fusion module, real-time surgical guidance module, C-Arm virtual imaging, end guidance, and postoperative surgical evaluation module.

[0076] The user management module is used for basic software functions such as user login and permission management.

[0077] The data management module is used for data reading, writing and transmission, storage of background data, and storage and management of unstructured data including images, patient information, surgical planning, and other basic software functions.

[0078] Navigation device registration is used to confirm that all objects that need to be tracked have been identified and can be accurately tracked.

[0079] Motion tracking devices are used to obtain the positions of surgical instruments during surgery, including the position of the C-Arm device. These positions must be tracked in real time during surgery.

[0080] A breathing tracking device is used to track the patient's breathing or movement and to track it in real time during surgery. The breathing tracking device can use a cross-bar fence-like device that can be recognized by an infrared light instrument.

[0081] The intelligent registration and fusion module is used to establish the mapping relationship between the clinical image coordinate system, the C-Arm system coordinate system, and the optical positioning coordinate system. The intelligent AI algorithm is used to register the clinical image coordinate system and the C-Arm system coordinate system, and the marking points of the navigation device are used to fuse the optical positioning coordinate system and the C-Arm coordinate system; a unified coordinate system is constructed for real-time navigation of the subsequent surgical process and rendered in the system. The C-Arm device can be a 3D C-Arm image or a limited 2D X-Ray image of the doctor during surgery.

[0082] The real-time surgical navigation module renders all the targets that doctors need to use and observe in the operating room onto the display device, and guides doctors to perform surgery according to the planned path.

[0083] C-Arm virtual imaging: During surgery, doctors need to use C-Arm to take pictures. The system can generate virtual X-Ray images to help doctors adjust the shooting position and angle and quickly complete the placement of the C-Arm equipment.

[0084] The postoperative surgical evaluation module integrates the postoperative medical images into the unified surgical coordinate system and displays the fusion to obtain the postoperative surgical effect evaluation.

[0085] End the guidance module and guide the doctor to organize the surgical instruments after the operation is completed.

[0086] Therefore, a more comprehensive C-Arm imaging-based intelligent navigation system is proposed; the actual clinical and operating room scenarios are taken into consideration, and the use of current intelligent AI algorithms to improve the accuracy and speed of the system is considered; this system design can obtain a more reliable and feasible navigation system for doctors in real usage scenarios.

[0087] In addition, the entire system will not cause additional trauma to the patient; it uses intelligent AI to achieve higher performance. Taking into account the continuous improvement of AI algorithms in recent years, the accuracy and efficiency of the current registration algorithm can be further improved using the latest methods; advance surgical planning can greatly improve intraoperative efficiency, avoid doctors starting surgical planning during surgery, and improve surgical fluency; the calibration of the C-Arm is added to the system design to improve the accuracy of navigation during surgery.

[0088] Reference below Figure 3 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0089] like Figure 3 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0090] Typically, the following devices may be connected to the I / O interface 305: input devices 306 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 308 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 309. The communication devices 309 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 3 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0091] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. When the computer program is executed by the processing device 301, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0092] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0093] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0094] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0095] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: tracks the position of the surgical instrument in real time during the operation, wherein the surgical instrument includes a C-Arm device; tracks the breathing and movement of the target person in real time during the operation; establishes a mapping relationship between the clinical image coordinate system, the C-Arm system coordinate system and the optical positioning coordinate system, and constructs a unified coordinate system, wherein the optical positioning coordinate system is a coordinate system of the optical device for real-time tracking of the surgical instrument and the target person; based on the unified coordinate system, aligns and fuses the pre-operative image, the intra-operative image and the pre-planned navigation information, wherein the intra-operative image includes a real-time positioning image of the surgical instrument and the target person; renders the intra-operative image and the navigation information matching the intra-operative image on a display device to instruct the surgical participants to perform the operation based on the navigation information.

[0096] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0097] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0098] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, a selection unit may also be described as a "unit for selecting a first type of pixel".

[0099] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0100] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0102] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0103] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A surgical navigation method based on C-Arm imaging, characterized in that: The method comprises: Tracking the position of surgical instruments in real time during surgery, wherein the surgical instruments include a C-Arm device; Track the subject’s breathing and movement in real time during surgery; Establish the mapping relationship between the clinical image coordinate system, the C-Arm system coordinate system and the optical positioning coordinate system to construct a unified coordinate system, where the optical positioning coordinate system is the coordinate system of the optical equipment for real-time tracking of surgical instruments and target persons; Based on the unified coordinate system, the pre-operative image, the intra-operative image and the pre-planned navigation information are registered and fused, wherein the intra-operative image includes the real-time positioning image of the surgical instrument and the target person; The intraoperative image and navigation information matching the intraoperative image are rendered on a display device to instruct the surgical participant to perform surgery based on the navigation information.

2. The method according to claim 1, characterized in that The method further comprises: Acquire preoperative three-dimensional image data of a target person scanned before surgery; According to the preoperative three-dimensional image data, lesions and organs are identified and segmented, and a preoperative three-dimensional model is generated, wherein the preoperative three-dimensional model can be modified in response to a model modification operation, and the three-dimensional model is used to implement three-dimensional rendering to generate preoperative images.

3. The method according to claim 2, characterized in that The method further comprises: Performing surgical path planning on the preoperative three-dimensional model to obtain at least one candidate path; In response to detecting a path modification operation, modifying the candidate paths according to the path modification operation, and determining at least one target path for the surgery; Generate navigation information based on the target path.

4. The method according to claim 1, characterized in that: The mapping relationship among the clinical imaging coordinate system, the C-Arm system coordinate system and the optical positioning coordinate system is established to construct a unified coordinate system, including: Use intelligent AI algorithms to align the clinical image coordinate system with the C-Arm system coordinate system; Based on the markers installed on the C-Arm device, the optical positioning coordinate system and the C-Arm coordinate system are fused.

5. The method according to claim 1, characterized in that The method further comprises: During the operation, the C-Arm device is used to capture, generate and display virtual X-Ray images; Based on the virtual X-Ray image, the shooting position and angle of the virtual X-Ray image are adjusted, and the placement position of the C-Arm device is adjusted.

6. The method according to claim 3, characterized in that The method of identifying and segmenting lesions and organs according to the preoperative three-dimensional image data and generating a preoperative three-dimensional model includes: using an AI intelligent algorithm to perform intelligent identification and segmentation of lesions and organs on the preoperative three-dimensional image data scanned before surgery; The surgical path planning is performed on the preoperative three-dimensional model to obtain at least one candidate path, including: using an intelligent AI algorithm to generate multiple candidate paths; The method also includes: using an intelligent AI algorithm to predict the effect of the target path surgery.

7. The method according to claim 1, characterized in that The method further comprises: After the operation is completed, postoperative guidance prompt information is displayed, wherein the postoperative guidance prompt information is used to guide the surgical participants to organize the surgical related instruments; Acquire postoperative three-dimensional image data of the target person; register and fuse the preoperative three-dimensional image data into the unified coordinate system for fusion display, and generate a postoperative surgical effect evaluation.

8. An intelligent surgical navigation system based on C-Arm imaging, comprising: A navigation device, used for real-time tracking of the position of a surgical instrument during surgery, wherein the surgical instrument includes a C-Arm device; real-time tracking of the breathing and movement of a target person during surgery; establishing a mapping relationship among a clinical image coordinate system, a C-Arm system coordinate system, and an optical positioning coordinate system to construct a unified coordinate system, wherein the optical positioning coordinate system is a coordinate system of an optical device for real-time tracking of the surgical instrument and the target person; based on the unified coordinate system, registering and fusing pre-operative images, intra-operative images, and pre-planned navigation information, wherein the intra-operative images include real-time positioning images of the surgical instrument and the target person; rendering the intra-operative images and navigation information matching the intra-operative images on a display device to instruct the surgical participant to perform surgery based on the navigation information; Optical equipment for real-time tracking of the position of surgical instruments during surgery and real-time tracking of the breathing and movement of the target person, communicating with the navigation equipment; A C-Arm device is provided with markers identifiable by an optical device and is used to obtain pre-operative images and / or intra-operative images.

9. The system according to claim 8, characterized in that The navigation device is also used for one or more of the following: Acquire preoperative three-dimensional image data of the target person scanned before surgery; identify and segment lesions and organs according to the preoperative three-dimensional image data, and generate a preoperative three-dimensional model, wherein the preoperative three-dimensional model can be modified in response to a model modification operation, and the three-dimensional model is used to implement three-dimensional rendering to generate preoperative images; Performing surgical path planning on the preoperative three-dimensional model to obtain at least one candidate path; in response to detecting a path modification operation, modifying the candidate path according to the path modification operation, and determining at least one target path for the surgery; generating navigation information based on the target path; During the operation, the C-Arm device is used to shoot, generate and display a virtual X-Ray image; based on the virtual X-Ray image, the shooting position and angle of the virtual X-Ray image are adjusted, and the placement position of the C-Arm device is adjusted; After the operation is completed, postoperative guidance prompt information is displayed, wherein the postoperative guidance prompt information is used to guide the surgical participants to organize the surgical related instruments; Acquire postoperative three-dimensional image data of the target person; register and fuse the preoperative three-dimensional image data into the unified coordinate system for fusion display, and generate a postoperative surgical effect evaluation.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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